Research on Response-Based Optimal Controller Design

基于响应的最优控制器设计研究

• 批准号: 07555426
• 负责人: FURUTA Katsuhisa
• 金额: $ 0.7万
• 依托单位: TOKYO INSTITUTE OF TECHNOLOGY
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B)
• 财政年份: 1995
• 资助国家: 日本
• 起止时间: 1995 至 1996
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-07555426/
• 关键词: Controller Design; CAD; Markov Parameter; LQ Control; H_* Control; Nonparametric Model; モデリングと設計の融合; H∞制御; 入出力データ; モデリング(同定); 制御系設計CAD

This research is to develop the computer aided design package for the Response-based LQG design method which has been proposed by K.Furuta. This method does not use the parametric model like state space or transfer function. The controller is designed directly from the Markov parameters equivalent to impulse response in the form of the Markov parameters and its minimal realization yields an usual state space compensator.The computer package for the Response-based Control System Design Method has been developed which has following characteristics :1. From the measured impulse response data, the program package which is necessary for the design of the controller including servo controller has been developed.2. The method to treat the noise contaminated measurement of the impulse responses has been developed, where the impulse response from the system noise to the output or controlled variable is found not necessary if their covariance matrices are measurable.3. Under the constraint of the control input, the LQ optimal control is found to be computed by using LMI,which is useful in practice.4. The Response-data control algorithm for the H-infinity optimal controller has been developed.5. The developed package has been used for the controller design for a distilllation column and evaluated through simulation, which tells that the method may be useful practically if development environment is provided.

本研究旨在为 K.Furuta 提出的基于响应的 LQG 设计方法开发计算机辅助设计包。该方法不使用状态空间或传递函数等参数模型。控制器是直接根据马尔可夫参数设计的，相当于马尔可夫参数形式的脉冲响应，其最小实现产生了一个通常的状态空间补偿器。基于响应的控制系统设计方法的计算机包已经开发出来，它具有以下特点： 1．根据测量的脉冲响应数据，开发了包括伺服控制器在内的控制器设计所需的程序包。 2．已经开发了处理脉冲响应的噪声污染测量的方法，其中如果协方差矩阵是可测量的，则发现从系统噪声到输出或受控变量的脉冲响应是不必要的。 3．在控制输入的约束下，发现利用LMI计算LQ最优控制，具有一定的实用价值。 4．开发了H-无穷最优控制器的响应数据控制算法。 5．所开发的软件包已用于蒸馏塔的控制器设计，并通过仿真进行了评估，表明如果提供开发环境，该方法可能是有用的。

项目成果

田中聡: "マルコフパラメータを用いたクレーンの振れ止め制御" 第35回計測自動制御学会学術講演会. 35.

Satoshi Tanaka：“使用马尔可夫参数的起重机稳定架控制”第35届仪器与控制工程师学会学术会议35。

Katsuhisa Furuta: "Responsed-based H∞ Optimal Controller Design" Proc. of MTNS96.

Katsuhisa Furuta：MTNS96 的“基于响应的 H∞ 最优控制器设计”。

Katsuhisa Furuta: "Design of Response Based Servo-Mechanism and its application to the simulator of distillation column" Proc. of IFAC-SYSID97.

Katsuhisa Furuta：“基于响应的伺服机构的设计及其在蒸馏塔模拟器中的应用”Proc。

古田勝久、西村修、品田康子: "観測器をもとにしたH∞制御器の設計" 自動制御連合講演会予稿集. 38. 131-132 (1995)

Katsuhisa Furuta、Osamu Nishimura、Yasuko Shinada：“基于观测设备的 H∞ 控制器的设计”自动控制协会会议论文集 38. 131-132 (1995)。

Katsuhisa Furuta: "Digital Motion Control : Response-based Design of LQG Controller" Conference Systems and Control-Perspectives on Theory and Practice June 14-16. (1995)

Katsuhisa Furuta：“数字运动控制：LQG 控制器的基于响应的设计”会议系统和控制理论与实践的观点，6 月 14 日至 16 日。